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137 Commits

Author SHA1 Message Date
Erwin Coumans
c2b9dc9361 update to CartPoleBulletEnv-v1 and check with latest baselines v0.1.5, works fine. 
(make it more similar to classical control cartpole)
 2018-10-29 16:44:12 -07:00
Erwin Coumans
0511a36a67 add Laikago quadruped model, thanks to Unitree for the cad meshes. 
If you use the Laikago URDF, please add a citation to PyBullet:

@MISC{coumans2018,
author =   {Erwin Coumans and Yunfei Bai},
title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
 2018-10-26 18:49:58 -07:00
erwincoumans
b5e475aec3 enable planar reflection in MinitaurGymEnv 
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
 2018-10-14 15:10:19 -07:00
Joshua Aduol
cc4c02edc7 Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint 2018-09-09 00:17:06 +01:00
Alexis David Jacq
6adea4964f forgot one "isAlive" to change 2018-06-16 14:00:05 +02:00
Alexis David Jacq
50b5edd7b5 isDone instead of isAlive 2018-06-16 13:53:05 +02:00
Alexis David Jacq
292a3f1cf6 methode isAlive 
Method def isAlive(self), which defaults to return self._alive < 0, and each environment can override this method (Half Cheetah would implement return False)

(In response to bea468fb93)
 2018-06-15 17:55:20 +02:00
Alexis David Jacq
a57c480f28 Update gym_locomotion_envs.py 
As suggested in https://github.com/bulletphysics/bullet3/pull/1759. The default isDone lets done = alive<0, and a special case is made for halfcheetah, forcing done=False. 
I had to pass the 'alive' condition as an additive parameter of WalkerBaseBulletEnv.
 2018-06-15 17:38:35 +02:00
Erwin Coumans
e24da97140 revert GJK change yet again, some degenerate case / regression 2018-06-12 19:52:38 -07:00
Erwin Coumans
e74f86d148 remove ANYmal meshes 2018-06-11 07:44:05 -07:00
erwincoumans
5ede227e94 Update robot_bases.py 
remove print
 2018-06-05 19:33:28 -07:00
Erwin Coumans
e74cd05e37 add space 2018-05-31 21:21:50 -07:00
Erwin Coumans
76e88dddc5 add space to make conversion work 2018-05-31 18:16:40 -07:00
Erwin Coumans
39808ddfdf allow to run minitaur environment examples from pip version, like this: 
python -m pybullet_envs.minitaur.envs.minitaur_trotting_env_example
python -m pybullet_envs.minitaur.envs.minitaur_reactive_env_example
 2018-05-29 09:28:31 -07:00
Erwin Coumans
efe9161670 fix cmake build 2018-05-26 08:46:12 +10:00
Erwin Coumans
5de53d7355 PyBullet: add ANYmal.py quadruped example, usage: 
pip install pybullet
python -m pybullet_envs.examples.ANYmal
 2018-05-25 07:54:38 +10:00
erwincoumans
f1b4ffaf98 Merge pull request #1699 from benelot/fix-pendula-with-pbclient 
Fix pendulum & manipulator envs with pybullet client
 2018-05-23 08:20:40 +10:00
Benelot
4a16032820 Fix manipulators too. 2018-05-22 18:12:45 +02:00
Benelot
7b219e0ea6 Fix pendula to use the bullet-client. 2018-05-22 16:40:10 +02:00
Erwin Coumans
f5952a73e7 UrdfImporter: Collada DAE, rudimentary support for polylist (for ANYmal), assumes all polygons have 3 vertices 
remove obsolete env from __init__.py
 2018-05-23 00:28:49 +10:00
Erwin Coumans
9a706d9cfd PyBullet: fix Gym envs 2018-05-23 00:24:03 +10:00
Erwin Coumans
a0a1c9347c PyBullet: fix in Gym env 2018-05-23 00:18:17 +10:00
Erwin Coumans
a7a6e20d9c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-20 14:19:49 +10:00
Erwin Coumans
90939279f9 PyBullet: cmake build, enable DBUILD_PYBULLET_NUMPY=ON 
fix issue with HalfCheetahBulletEnv-v0 in previous commit
 2018-05-20 14:18:53 +10:00
Erwin Coumans
964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans
0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -07:00
Erwin Coumans
3a4d1799d8 remove "DO NOT SUBMIT" comments, it blocks commits in google3 2018-05-07 17:35:55 -07:00
Jie Tan
20dd3d265b update README.md to include paper link in Arxiv. 2018-04-30 11:09:59 -07:00
Jie Tan
26cebc9aa5 rewrite the README file. 2018-04-26 21:26:08 -07:00
Jie
a375a349ce make sure that the pre-trained galloping and trotting policies work for the minitaur_reactive_env and minitaur_trotting_env environments. 2018-04-24 21:48:27 -07:00
Erwin Coumans
bd0aed3e36 add ARS to train/eval Minitaur 2018-04-11 18:14:56 -07:00
Erwin Coumans
40b285ebfd fixes in minitaur leg mapping 2018-04-11 18:13:46 -07:00
erwincoumans
2bc246b0b1 fixes in relative imports 2018-04-11 18:00:43 -07:00
Erwin Coumans
ad75ea35b3 fix new minitaur envs for newer Gym (_step -> step etc), 
add extra sleep to sync Minitaur walk with RTC clock
 2018-04-11 13:22:25 -07:00
erwincoumans
ac945df07a remote 'render' arg 2018-04-11 10:14:24 -07:00
erwincoumans
698b20938f fix a number of issues in a series of new Minitaur environments 
add them to pybullet_envs through __init__.py
    id='MinitaurReactiveEnv-v0',
    id='MinitaurTrottingEnv-v0',
    id='MinitaurBallGymEnv-v0',
    id='MinitaurStandGymEnv-v0',
    id='MinitaurAlternatingLegsEnv-v0',
    id='MinitaurFourLegStandEnv-v0',

disable reflection of minitaur_four_leg_stand_env, since the floor changes orientation (reflection is a fixed plane with [0,0,1] normal)

from pybullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv
from pybullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv
from pybullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv
from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv
from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv
from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv
from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv
 2018-04-11 10:09:03 -07:00
erwincoumans
c2869e0a3c enable planar reflection in minitaur_gym_env.py and locomotion scenes 2018-04-11 08:50:29 -07:00
Erwin Coumans
7fa5e91cbd replace green stadium with blue checkered Bullet plane 
add missing files to pybullet setup.pu
 2018-04-10 19:55:26 -07:00
erwincoumans
5ff2a1d6c8 Update env_bases.py 2018-04-02 22:31:22 -07:00
erwincoumans
14d37ecb43 first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
erwincoumans
d69fefd7e9 Merge pull request #1559 from shubhtuls/patch-1 
minor bugfix in image reshaping in kukaGymEnv.py
 2018-03-08 15:16:30 -08:00
Erwin Coumans
8ba9644e78 fix __init__.py 2018-02-21 10:47:24 -08:00
Erwin Coumans
67318f3323 fix __init__.py 2018-02-21 10:45:06 -08:00
Erwin Coumans
a3c2ce1cef add __init__.py for pybullet_envs.prediction 2018-02-21 10:06:46 -08:00
erwincoumans
d3fe21ef17 Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default. 
Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread
 2018-02-14 16:49:44 -08:00
erwincoumans
5e08d6d334 small test to create / simulate random box stacks 2018-02-14 15:37:50 -08:00
Shubham Tulsiani
5fdd7ed3b4 minor bugfix in image reshaping in kukaGymEnv 
Reshaped image array should be of size (RENDER_HEIGHT, RENDER_WIDTH, 4) instead of (RENDER_WIDTH, RENDER_HEIGHT, 4).
 2018-02-11 21:47:57 -08:00
erwincoumans
19231434c2 gym env backward compatibility due to gym 0.9.6 breaking changes 2018-02-06 10:20:41 -08:00
Sam Wenke
ad3c236bfd pybullet support for gym.Env, including v0.9.x 2018-02-04 11:35:47 -05:00
erwincoumans
13d67e8fc3 add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) 
center shadow around camera target
 2018-01-31 22:17:15 -08:00